CN1788948A - Link drive mechanism with a harmonic gear reducer and industrial robot using the same - Google Patents
Link drive mechanism with a harmonic gear reducer and industrial robot using the same Download PDFInfo
- Publication number
- CN1788948A CN1788948A CNA2005101370030A CN200510137003A CN1788948A CN 1788948 A CN1788948 A CN 1788948A CN A2005101370030 A CNA2005101370030 A CN A2005101370030A CN 200510137003 A CN200510137003 A CN 200510137003A CN 1788948 A CN1788948 A CN 1788948A
- Authority
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- China
- Prior art keywords
- arm
- output shaft
- bar
- link drive
- reduction unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000003638 chemical reducing agent Substances 0.000 title abstract 3
- 239000011159 matrix material Substances 0.000 claims description 28
- 238000009826 distribution Methods 0.000 claims description 11
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 abstract description 3
- 241000222712 Kinetoplastida Species 0.000 description 14
- 230000001681 protective effect Effects 0.000 description 5
- 230000037303 wrinkles Effects 0.000 description 5
- 239000012636 effector Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 239000004519 grease Substances 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a connecting rod driving mechanism provided with high position precision and good sealing performance and an industrial robot adopting the connecting rod driving mechanism. The connecting rod driving mechanism comprises a first arm (11) forming a parallel connecting rod, a second arm (12) forming the other parallel connecting rod, a connecting base body (3) arranged between the end parts connecting the first arm (11) and the second arm (12) and connecting the end parts of the two parallel connecting rods, and a driving motor provided with a fluctuating gear reducer (30) arranged at the connecting end part of an arm; the fluctuating gear reducer (30) is provided with two output axles (37 and 38) rotating in the identical direction, the first output axle (37) thereof is connected at the end part of the other arm, and the second output axle (38) is connected on the connecting base body (3).
Description
Technical field
The present invention relates to bar-link drive, relate in particular to a kind of bar-link drive that is applicable to industrial robot.
Background technology
In recent years, wish industrial robot can the production scene that requires high speed, high accuracy, cleannes and use special gas or the particular surroundings of medicine under work.Nowadays, the axis mechanism up and down of prosthetic robot for example, constitutes the structure of straight moving axis at the ball screw that mainly is to use.This mechanism in order to prevent to produce dispersing of dust and lubricating grease from manipulator inside, is necessary to use guard blocks such as wrinkle protective cover.But, under the situation of using the wrinkle protective cover, can produce change because be accompanied by the contraction robot pressure inside of wrinkle protective cover; and, from the viewpoint of durability, because raw material are defined; so, be difficult to the job requirements under corresponding high cleanliness and the particular surroundings.
On the other hand, the axis mechanism up and down of industrial robot can be constituted link-type (for example, with reference to patent documentation 1).This constitutes, pair of right and left the 1st arm that constitutes a side parallel rod is connected on matrix and the connecting rod matrix, pair of right and left the 2nd arm that constitutes the opposing party's parallel rod is connected on connecting rod matrix and the arm matrix, on above-mentioned connecting rod matrix, carry CD-ROM drive motor, and, for the 1st arm of giving the left and right sides and the connecting axle of the 2nd arm apply revolving force, adopt the transmission mechanism that uses bevel gear, this transmission mechanism and reductor together are built in the inside of connecting rod matrix.
[patent documentation 1] spy opens the 2002-326182 communique
But; as the axis mechanism up and down of above-mentioned patent documentation 1 described parallel rod formula in; do not use the wrinkle protective cover; promptly; constitute axis mechanism up and down with non-wrinkle protective cover, but owing to the transmission mechanism that has used bevel gear is adopted in the connecting axle rotation that makes the 1st, the 2nd arm, so; the influence of the backlash that is subjected to bevel gear is arranged, produce the problem that positional precision descends.Again, in bevel gear mechanism, the connecting axle of the 1st arm in left side turns clockwise, being rotated counterclockwise of the 2nd arm on right side, like this, because left and right sides connecting axle must rotate mutually in opposite direction, so the structure of the connecting portion of the 1st, the 2nd arm and complexity thereof, the assembling of this connecting portion is also extremely difficult.Further, cause the seal construction of this connecting portion also very complicated.
Again, in order to carry out robot manipulating task, leading section at mechanical arm is equipped with end-effector such as arm device, still, and the distribution or the pipe arrangement of drive units such as this end-effector or mechanical arm, be the structure that around mechanical arm, exposes, not only more inferior in appearance, and, do not consider how to dispose distribution, the not action of limit mechanical hand of pipe arrangement, again, also be necessary to consider not to be subjected to the to come from the outside interference of object etc.
Summary of the invention
The present invention is in view of above-mentioned problem, and its purpose is to provide a kind of and has high-precision positional precision, and the industrial robot of the driving rod drive of good airproof performance and operative installations.
The present invention also aims to provide a kind of distribution of drive units such as end-effector or mechanical arm, industrial robot that pipe arrangement exposes to the outside of not making again.
Bar-link drive of the present invention, it is characterized in that having: constitute a parallel rod the 1st arm, constitute another parallel rod the 2nd arm, be arranged between the end that connects described the 1st arm and the 2nd arm and connect the connection matrix and the CD-ROM drive motor that has the fluctuation gear reduction unit that is connected the end that is arranged on an arm of the end of two parallel rods;
Described fluctuation gear reduction unit has 2 output shafts that rotate on same direction, its 1st output shaft is connected the end of another arm, and the 2nd output shaft is connected on the described connection matrix.
Bar-link drive of the present invention as mentioned above, because the 1st arm and the 2nd arm, constitutes parallel rod respectively by connecting matrix, so, only, control its position for the rotatablely moving of all rotating shafts.Because use the fluctuation gear reduction unit that has to 2 output shafts of same direction rotation,, therefore can realize high-precision positional precision so there is not backlash again.Again, the seal construction that is used for rotating shaft is also simple, and favorable sealing property, easily various particular surroundings such as corresponding cleaning ambient.
Again, in the present invention, be installed at the CD-ROM drive motor that will have the gear reduction unit that fluctuates under the situation on the connection end of the 1st arm, the 1st output shaft of fluctuation gear reduction unit is connected on the connection end of the 2nd arm, and the 2nd output shaft is connected and connects on the matrix.Conversely, be installed at the CD-ROM drive motor that will have the gear reduction unit that fluctuates under the situation on the connection end of the 2nd arm, the 1st output shaft of fluctuation gear reduction unit is connected on the connection end of the 1st arm, and the 2nd output shaft is connected equally and connects on the matrix.
Again, in the present invention, the 1st output shaft of above-mentioned fluctuation gear reduction unit and the speed reducing ratio of the 2nd output shaft are 1: 2.
Thus, but the kinetoplast that is connected the 2nd arm side that constitutes another parallel rod can move as straight line.
In the present invention, be arranged on the concentric circles above-mentioned the 1st output shaft and the 2nd output shaft better again.Thus, the fluctuation gear reduction unit can shorten, and can constitute drive division compactly.
Again, in the present invention, the inside of bar-link drive is hollow structure, and distribution and/or pipe arrangement can pass through internally.
Thus, distribution, pipe arrangement can be hidden into the 1st, the 2nd arm inside, can not limit the action of the 1st, the 2nd arm and manipulator, can not produce interference again with exterior object etc.Further, give clean and tidy impression in appearance.
By utilizing bar-link drive of the present invention, can constitute the general industrial robot again.Especially be used to axis mechanism up and down as prosthetic robot.
Description of drawings
Fig. 1 is the side view with prosthetic robot of bar-link drive of the present invention.
Fig. 2 is the vertical view of this prosthetic robot.
Fig. 3 is the cutaway view that the summary of expression bar-link drive constitutes.
Fig. 4 is the cutaway view of drive division.
Fig. 5 is the action specification figure of bar-link drive.
Among the figure: 1-fixing base, but 2-kinetoplast, 3-connects matrix, the 4-drive division, 10-bar-link drive, 11-the 1st arm, 11a-the 1st Arm cover, 12-the 2nd arm, 12a-the 2nd Arm cover, 13-the 1st connecting rod, 14-the 2nd connecting rod, 15, the 16-axle, 15a, the 16a-bearing, 17a, 17b, 18a, the 18b-axle, 21-the 1st horizontal arm, 22-the 2nd horizontal arm, 23-operation axle, the 30-gear reduction unit that fluctuates, the 31-power shaft, 32-wave producer, 32a, the 32b-bearing, 33, the 34-flexible gear, 35, the 36-rigid gear, 37-the 1st output shaft, 38-the 2nd output shaft, 39-arm attaching parts, 40-deceleration cabinet, 41a, 41b, 41c, 41d, the 41e-mounting screw, 50-CD-ROM drive motor, 51-motor drive shaft, 52-motor ring flange, 53-sleeve, 54-sleeve installing component, the 55-sliding bearing, the 60-distribution, pipe arrangement, the 61-receiver.
The specific embodiment
Below, with reference to accompanying drawing an example using embodiments of the present invention is described.At this, though the example of bar-link drive of the present invention as the use of axis mechanism up and down of prosthetic robot described, the present invention is not limited to this.
Fig. 1 is the side view with industrial robot of the present invention (prosthetic robot); Fig. 2 is the vertical view of this prosthetic robot.
The bar-link drive of this prosthetic robot (axis mechanism up and down) 10, be installed on the connection matrix 3 in the middle of the configuration between ground fixing base 1 and the upper movable matrix 2,2 groups of parallel linkages connected and composed to being similar to the bending shape of [く] font by connecting matrix 3.
One side's arm 11 constitutes the parallel rod parallel with the 1st connecting rod 13, one end (bottom) of the 1st arm 11, be rotatably connected on the fixing base 1 by axle 15, on an other end (upper end), CD-ROM drive motor is installed, this CD-ROM drive motor has fluctuation gear reduction unit described later, and the 2nd output shaft (with reference to Fig. 3 to Fig. 5) of this fluctuation gear reduction unit is connected and connects on the matrix 3.
On the 1st connecting rod 13, its both ends rotatably are connected fixing base 1 and are connected matrix 3 by axle 17a, 17b.
The opposing party's the 2nd arm 12, constitute the parallel rod parallel with the 2nd connecting rod 14, one end (bottom) of the 2nd arm 12 is connected on the 1st output shaft of above-mentioned fluctuation gear reduction unit, an other end (upper end), but rotatably be connected on the above-mentioned kinetoplast 2 by axle 16.
Again, the 2nd connecting rod 14, but its both ends rotatably are connected on connection matrix 3 and the kinetoplast 2 by axle 18a, 18b.
And, on above-mentioned fluctuation gear reduction unit, CD-ROM drive motor is installed directly.Connect between the bottom that matrix 3 is set at the upper end of the 1st arm 11 and the 2nd arm 12.
As mentioned above, fixing base 1, connection matrix the 3, the 1st arm 11 and the 1st connecting rod 13, if tie point is connected, then constitute the parallel linkage that forms by parallelogram, again, but kinetoplast 2, connection matrix the 3, the 2nd arm 12 and the 2nd connecting rod 14 are too, if tie point is connected, then constitute the parallel linkage that is formed by parallelogram.And, but kinetoplast 2 is irrelevant with the anglec of rotation of the 1st arm 11 by these 2 groups of parallel linkages, always is maintained certain attitude (for example level).
But on kinetoplast 2,, be equipped with the robot arm mechanism as upper mechanism 20.Under the situation of prosthetic robot, but the mechanical arm mechanism that mainly is made of the 1st horizontal arm 21 and the 2nd horizontal arm 22 is installed on the kinetoplast 2.The 1st horizontal arm 21, but be the center rotation with the 1st joint shaft (not shown) that connects the 1st horizontal arm 21 and kinetoplast 2; The 2nd horizontal arm 22 is the center rotation with the 2nd joint shaft (not shown) that connects the 1st horizontal arm 21 and the 2nd horizontal arm 22.And, on the leading section of the 2nd horizontal arm 22, be provided with rotatable operation axle 23 (with reference to Fig. 2), end-effector (not shown) such as arm device are installed on this operation axle.
And then, based on Fig. 3 to Fig. 5 above-mentioned bar-link drive 10 is elaborated.Fig. 3 is the cutaway view that the summary of this bar-link drive 10 of expression constitutes; Fig. 4 is the cutaway view as the drive division of its major part.Again, in Fig. 4, half has been omitted the downside of fluctuation gear reduction unit 30.Again, Fig. 5 is the action specification figure of this bar-link drive 10.
The drive division 4 of this bar-link drive 10 is made of the CD-ROM drive motor 50 with fluctuation gear reduction unit 30, is installed in the upper end with the 1st arm 11, that is, and and with being connected on the end that the 2nd arm 12 is connected.
Fluctuation gear reduction unit 30 mainly is made of power shaft 31, wave producer 32, flexible gear 33 and 34, rigid gear 35 and 36, the 1st output shaft the 37, the 2nd output shaft 38.
The motor drive shaft 51 of CD-ROM drive motor 50, by for example flanged ends (flanged ends portion is omitted in the drawings) etc., do not produce on the direction of rotation shake and strong bonded on power shaft 31.Wave producer 32 is fixed or bonding etc. being fixed on this power shaft 31 by screw, and has and the interior week that is entrenched in rigid gear 35,36 respectively go up, produce 2 bearing 32a, 32b of fluctuation.
A part of tooth of one of them flexible gear 33 and rigid gear 35 is meshed, and, be fixed on the 1st output shaft 37 by mounting screw not shown in the figures etc.
A part of tooth of another one flexible gear 34 and rigid gear 36 is meshed, and, by mounting screw not shown in the figures etc., be fixed on the 2nd output shaft 38 with rigid gear 35.Another one rigid gear 36 is fixed on the deceleration cabinet 40.
And the 1st output shaft 37 is fixed on the end of the 2nd arm 12, and the 2nd output shaft 38 is fixed on and connects on the matrix 3.
The 1st output shaft 37 and the 2nd output shaft 38 are configured on the concentric circles.Thus, fluctuation gear reduction unit 30 is shortened, so drive division 4 can constitute very compactly.
The 1st output shaft 37 connects key member 39 by arm, utilizes mounting screw 41a, 41b to be installed in the bottom of the 2nd arm 12.Again, the 2nd output shaft 38 is installed on the connection matrix 3 by mounting screw 41c.
Fluctuation gear reduction unit 30 is installed in by mounting screw 41d on the upper end of the 1st arm 11.
CD-ROM drive motor 50 by motor ring flange 25, utilizes mounting screw 41e to be installed on the fluctuation gear reduction unit 30.
As mentioned above, fluctuation gear reduction unit 30 as decelerator, be the formation that is provided with 1 input, 2 outputs with 1 power shaft 31 and 2 output shafts 37,38, and the 1st output shaft 37 and the 2nd output shaft 38 rotates to same direction.And the speed reducing ratio of the 1st output shaft 37 and the 2nd output shaft 38 is 1: 2.By the change flexible gear 33 and 34 the number of teeth, perhaps the rigid gear 35 and 36 the number of teeth can change above-mentioned speed reducing ratio.
Therefore, owing to there is not backlash, the 1st arm 11 and the 2nd arm 12 are rotated accurately, thereby but can control the positional precision of kinetoplast 2 accurately.
Again, this bar-link drive 10 as shown in Figure 3, Figure 4, is the structure of hollow.That is, but above-mentioned kinetoplast 2, axle 16, CD-ROM drive motor the 50, the 1st arm 11, spools 15 that has a gear reduction unit 30 that fluctuate all are constituted as hollow structure.Again, CD-ROM drive motor 50 becomes the hollow motor, and axle sleeve 53 runs through the integral body of the CD-ROM drive motor 50 that has the gear reduction unit 30 that fluctuates and is set at the center.And, the 54th, axle sleeve installing component, the 55th, the sliding bearing between axle sleeve 53 and arm installing component 39.Again, in Fig. 3,11a is the 1st Arm cover, and 12a is the 2nd Arm cover, and 15a is the bearing of quill shaft 15, and 16a is the bearing of quill shaft 16.
By bar-link drive 10 is constituted hollow structure, the distribution (not shown) of the distribution of upper mechanism 20, pipe arrangement 60 and CD-ROM drive motor 50 etc. can pass the inside of bar-link drive 10 and make a circulation around.Distribution, pipe arrangement 60 etc. be arranged on fixing base 1 on receiver 61 in wiring substrate and valve etc. be connected.
Therefore, formation according to this bar-link drive 10, distribution, pipe arrangement 60 etc. are accommodated in the inside of bar-link drive 10, can not expose externally, so give very clean and tidy impression in appearance, simultaneously, can not hinder the action of bar-link drive 10 and mechanical arm etc., and, needn't worry interference fully with exterior object etc.
And, the 1st arm the 11, the 2nd arm 12 is sealed by the 1st Arm cover 11a, the 2nd Arm cover 12a respectively, again, because connect the installation portion that is connected matrix 3 and deceleration cabinet 40, quill shaft 15,16 etc. of arm attaching parts the 39, the 2nd output shaft 38 of the 2nd arm 12 and the 1st output shaft 37, seal by O type ring not shown in the figures, so sealing is good, dispersing of clump arm inner generation dust and lubricating grease etc. can not taken place, so, be applicable to various particular surroundings such as cleaning ambient easily.
Below, based on the ideograph of Fig. 5, the action of this fluctuation gear reduction unit 30 is described.
In Fig. 5, but when kinetoplast 2 from position A that solid line is represented when the position B that dotted line is represented moves (rising), the 1st output shaft 37 of fluctuation gear reduction unit 30 and the 2nd output shaft 38 1 be rotation counterclockwise in the same way.Connect matrix 3,, be retained as level by 2 groups of parallel linkages up and down, again, because the speed reducing ratio of the 1st output shaft 37 and the 2nd output shaft 38 is 1: 2, so, the 2nd arm 12 is that 2 times the angle of the level angle α of the 1st arm 11 is rotated with the angle θ with 11 one-tenth of the 1st arms.That is, the anglec of rotation (level angle) of the 1st arm 11 and the 2nd arm 12 is identical, so, but kinetoplast 2 moves as straight line.
Again, but make kinetoplast 2 from B when the A position descends, as long as make the rotation of the opposite in the same way clockwise direction of the 1st output shaft the 37, the 2nd output shaft 38 1.
In the above-described embodiment, though situation about the CD-ROM drive motor 50 that will have the gear reduction unit 30 that fluctuates being installed on the upper end of the 1st arm 11 is illustrated, but, with installation method conversely, also can the CD-ROM drive motor 50 that have the gear reduction unit 30 that fluctuates be installed in the bottom of the 2nd arm 12.At this moment, the 1st output shaft 37 is connected on the 1st arm 11, and the 2nd output shaft 38 is connected and connects on the matrix 3.
Again, bar-link drive of the present invention is set to pair of right and left with the 1st arm the 11, the 2nd arm 12, so can constitute bar-link drive compactly because there is no need as described in the above-mentioned patent documentation 1.
Again, bar-link drive of the present invention, for example, the telescoping mechanism that can be provided as left and right directions in the horizontal direction uses.But kinetoplast 2 can be used as slide mass and play the guiding role.Therefore, the range of application of bar-link drive of the present invention is very extensive.
Claims (6)
1. bar-link drive is characterized in that having:
The 1st arm of a parallel rod of formation,
Constitute another parallel rod the 2nd arm,
Be arranged between the end that connects described the 1st arm and the 2nd arm and connect two parallel rods the end the connection matrix and
The CD-ROM drive motor that has the fluctuation gear reduction unit of the connection end that is arranged on an arm;
Described fluctuation gear reduction unit has 2 output shafts that rotate on same direction, its 1st output shaft is connected the end of another arm, and the 2nd output shaft is connected on the described connection matrix.
2. bar-link drive according to claim 1 is characterized in that, the 1st output shaft of described fluctuation gear reduction unit and the speed reducing ratio of the 2nd output shaft are 1: 2.
3. bar-link drive according to claim 1 and 2 is characterized in that, described the 1st output shaft and the 2nd output shaft are arranged on the concentric circles.
4. according to any described bar-link drive in the claim 1 to 3, it is characterized in that inside is hollow structure, distribution and/or pipe arrangement can pass through internally.
5. an industrial robot is characterized in that, has any described bar-link drive in the claim 1 to 4.
6. a calculation type industrial robot is characterized in that, with any described bar-link drive in the claim 1 to 4 as axis mechanism up and down.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004363918A JP3988768B2 (en) | 2004-12-16 | 2004-12-16 | Link drive mechanism and industrial robot using the same |
| JP2004363918 | 2004-12-16 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1788948A true CN1788948A (en) | 2006-06-21 |
| CN100439053C CN100439053C (en) | 2008-12-03 |
Family
ID=36021828
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005101370030A Expired - Fee Related CN100439053C (en) | 2004-12-16 | 2005-12-13 | Link drive mechanism with a harmonic gear reducer and industrial robot using the same |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US20060201275A1 (en) |
| EP (1) | EP1671756B1 (en) |
| JP (1) | JP3988768B2 (en) |
| KR (1) | KR100710968B1 (en) |
| CN (1) | CN100439053C (en) |
| DE (1) | DE602005007687D1 (en) |
| TW (1) | TWI294820B (en) |
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- 2005-12-08 TW TW094143389A patent/TWI294820B/en not_active IP Right Cessation
- 2005-12-12 DE DE602005007687T patent/DE602005007687D1/en active Active
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- 2005-12-13 CN CNB2005101370030A patent/CN100439053C/en not_active Expired - Fee Related
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| CN104024694A (en) * | 2011-11-02 | 2014-09-03 | Ntn株式会社 | Method for initially setting position of origin of link actuators, and link actuator |
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| CN104024694B (en) * | 2011-11-02 | 2016-10-26 | Ntn株式会社 | The origin position method for initializing rotational of link actuation device and link actuation device |
| CN103946350B (en) * | 2011-11-23 | 2016-08-17 | Abb研究有限公司 | Sealing system, has the industrial robot of sealing system, and for the method providing sealing surfaces |
| CN103946350A (en) * | 2011-11-23 | 2014-07-23 | Abb研究有限公司 | A sealing system, an industrial robot with a sealing system, and a method for providing a sealing surface |
| CN104097209B (en) * | 2013-04-10 | 2018-01-16 | 精工爱普生株式会社 | Manipulator, manipulator controller and arm-and-hand system |
| CN104097209A (en) * | 2013-04-10 | 2014-10-15 | 精工爱普生株式会社 | Robot, robot control device, and robot system |
| CN106255575A (en) * | 2014-04-28 | 2016-12-21 | 川崎重工业株式会社 | Industrial robot |
| CN106255575B (en) * | 2014-04-28 | 2019-11-15 | 川崎重工业株式会社 | Industrial robot |
| CN107923316A (en) * | 2015-07-31 | 2018-04-17 | 日立汽车系统株式会社 | The actuator of link lever for internal combustion engine mechanism |
| WO2018196100A1 (en) * | 2017-04-25 | 2018-11-01 | 喻小秋 | Dual-manipulator washing machine and cleaning method thereof |
| CN108942904A (en) * | 2018-08-30 | 2018-12-07 | 东莞市本润机器人科技股份有限公司 | A kind of four axis SCARA robot of no dead angle |
| CN110561407A (en) * | 2019-09-19 | 2019-12-13 | 知行机器人科技（苏州）有限公司 | linear mechanical arm and robot |
| CN112743571A (en) * | 2019-10-30 | 2021-05-04 | 日本电产三协（浙江）有限公司 | Cleaning device for wave gear reducer and manufacturing method for industrial robot |
| CN113734315A (en) * | 2021-07-19 | 2021-12-03 | 北京芒砀信息科技有限责任公司 | Steering engine foot type robot for foot type robot |
Also Published As
| Publication number | Publication date |
|---|---|
| EP1671756A1 (en) | 2006-06-21 |
| KR100710968B1 (en) | 2007-04-24 |
| US20060201275A1 (en) | 2006-09-14 |
| TW200624232A (en) | 2006-07-16 |
| CN100439053C (en) | 2008-12-03 |
| TWI294820B (en) | 2008-03-21 |
| DE602005007687D1 (en) | 2008-08-07 |
| KR20060069262A (en) | 2006-06-21 |
| EP1671756B1 (en) | 2008-06-25 |
| JP2006167863A (en) | 2006-06-29 |
| JP3988768B2 (en) | 2007-10-10 |
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